| 基于MCU和CPLD的智能移动机器人控制系统 |
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| 引用本文： | 李慧,李海霞,冯显英.基于MCU和CPLD的智能移动机器人控制系统[J].机电工程,2009,26(8):100-103. |
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| 作者姓名： | 李慧 李海霞 冯显英 |
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| 作者单位： | 山东大学机械工程学院,山东济南,250061 |
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| 摘 要： | 针对移动机器人控制系统设计和开发要求的复杂性，从成本低、易开发、易调试和高集成性的角度出发，提出了一种基于微处理机控制单元（MCU）和复杂可编程逻辑器件（CPLD）的智能移动机器人控制系统设计。给出了自动避障、电机驱动控制、红外遥控等关键功能的设计实现方法，着重对基于CPLD的超声波检测模块、红外编码模块、壁障模糊控制器的设计等进行了详细的论述。同时，还给出了系统主程序和超声测距子程序软件设计流程。实践结果表明，该移动机器人控制系统可使硬件结构大大简化，并具有功能丰富、集成度高、性价比高等特点。
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| 关 键 词： | 微处理机控制单元 复杂可编程逻辑器件 超声波检测 模糊控制器 自动避障 |
Mobile robot's control system based on MCU & CPLD |
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| LI Hui,LI Hai-xia,FENG Xian-ying.Mobile robot's control system based on MCU & CPLD[J].Mechanical & Electrical Engineering Magazine,2009,26(8):100-103. |
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| Authors: | LI Hui LI Hai-xia FENG Xian-ying |
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| Affiliation: | ( School of Mechanical Engineering, Shandong University, Jinan 250061, China) |
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| Abstract: | Aiming at the requirement complexity for mobile robot high integration, in order to realize the targets of lower lost, easy development and high integration etc. , a new type of intelligent control system for mobile robot was developed. The key techniques of robot＇s automatic avoid-obstacle, motor driving control, infrared remote control etc. were introduced, especially for those of ultrasonic detection, infrared ray（IR） decode and obstacle avoiding fuzzy controller based on complex programmable logic device（CPLD）. The main program and ultrasonic detection program flowcharts were also given out. The result of experiment shows that the control system for mobile robot with microprocess control unit（MCU） and CPLD can not only greatly simplify the hardware, but also has high integration, high intelligence, and high performance-price ratio. |
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| Keywords: | microproeess control unit（ MCU） complex programmable logic device （CPLD） ultrasonic detection fuzzy logic controller automatic avoid-obstacle |
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